{"id":"https://openalex.org/W4393003838","doi":"https://doi.org/10.3390/robotics13030054","title":"An Experimental Investigation of the Dynamic Performances of a High Speed 4-DOF 5R Parallel Robot Using Inverse Dynamics Control","display_name":"An Experimental Investigation of the Dynamic Performances of a High Speed 4-DOF 5R Parallel Robot Using Inverse Dynamics Control","publication_year":2024,"publication_date":"2024-03-20","ids":{"openalex":"https://openalex.org/W4393003838","doi":"https://doi.org/10.3390/robotics13030054"},"language":"en","primary_location":{"id":"doi:10.3390/robotics13030054","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13030054","pdf_url":"https://www.mdpi.com/2218-6581/13/3/54/pdf?version=1710928099","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/13/3/54/pdf?version=1710928099","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5041608976","display_name":"Paolo Righettini","orcid":"https://orcid.org/0000-0002-0091-0405"},"institutions":[{"id":"https://openalex.org/I11039511","display_name":"University of Bergamo","ror":"https://ror.org/02mbd5571","country_code":"IT","type":"education","lineage":["https://openalex.org/I11039511"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Paolo Righettini","raw_affiliation_strings":["Department of Engineering and Applied Sciences, University of Bergamo, 24044 Dalmine, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Engineering and Applied Sciences, University of Bergamo, 24044 Dalmine, Italy","institution_ids":["https://openalex.org/I11039511"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080606445","display_name":"Roberto Strada","orcid":"https://orcid.org/0000-0002-8770-7126"},"institutions":[{"id":"https://openalex.org/I11039511","display_name":"University of Bergamo","ror":"https://ror.org/02mbd5571","country_code":"IT","type":"education","lineage":["https://openalex.org/I11039511"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Roberto Strada","raw_affiliation_strings":["Department of Engineering and Applied Sciences, University of Bergamo, 24044 Dalmine, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Engineering and Applied Sciences, University of Bergamo, 24044 Dalmine, Italy","institution_ids":["https://openalex.org/I11039511"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070444054","display_name":"Filippo Cortinovis","orcid":"https://orcid.org/0000-0002-7491-6009"},"institutions":[{"id":"https://openalex.org/I11039511","display_name":"University of Bergamo","ror":"https://ror.org/02mbd5571","country_code":"IT","type":"education","lineage":["https://openalex.org/I11039511"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Filippo Cortinovis","raw_affiliation_strings":["Department of Engineering and Applied Sciences, University of Bergamo, 24044 Dalmine, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Engineering and Applied Sciences, University of Bergamo, 24044 Dalmine, Italy","institution_ids":["https://openalex.org/I11039511"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5094201984","display_name":"Federico Tabaldi","orcid":"https://orcid.org/0009-0005-3775-9875"},"institutions":[{"id":"https://openalex.org/I11039511","display_name":"University of Bergamo","ror":"https://ror.org/02mbd5571","country_code":"IT","type":"education","lineage":["https://openalex.org/I11039511"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Federico Tabaldi","raw_affiliation_strings":["Department of Engineering and Applied Sciences, University of Bergamo, 24044 Dalmine, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Engineering and Applied Sciences, University of Bergamo, 24044 Dalmine, Italy","institution_ids":["https://openalex.org/I11039511"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055758831","display_name":"Jasmine Santinelli","orcid":"https://orcid.org/0009-0004-7358-2061"},"institutions":[{"id":"https://openalex.org/I11039511","display_name":"University of Bergamo","ror":"https://ror.org/02mbd5571","country_code":"IT","type":"education","lineage":["https://openalex.org/I11039511"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Jasmine Santinelli","raw_affiliation_strings":["Department of Engineering and Applied Sciences, University of Bergamo, 24044 Dalmine, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Engineering and Applied Sciences, University of Bergamo, 24044 Dalmine, Italy","institution_ids":["https://openalex.org/I11039511"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057752082","display_name":"Andrea Ginammi","orcid":null},"institutions":[{"id":"https://openalex.org/I4210104264","display_name":"Research and Environmental Devices (Italy)","ror":"https://ror.org/00t6rnw77","country_code":"IT","type":"company","lineage":["https://openalex.org/I4210104264"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Andrea Ginammi","raw_affiliation_strings":["Mechatronics and Dynamic Devices s.r.l., 24044 Dalmine, Italy"],"affiliations":[{"raw_affiliation_string":"Mechatronics and Dynamic Devices s.r.l., 24044 Dalmine, Italy","institution_ids":["https://openalex.org/I4210104264"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5041608976"],"corresponding_institution_ids":["https://openalex.org/I11039511"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":3.3507,"has_fulltext":true,"cited_by_count":10,"citation_normalized_percentile":{"value":0.92212721,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"13","issue":"3","first_page":"54","last_page":"54"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9907000064849854,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.867957353591919},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.6680107116699219},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.6326299905776978},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5078263878822327},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4974115192890167},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47882014513015747},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4275192618370056},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.39434605836868286},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35812920331954956},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31243249773979187},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.272778183221817},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.20204129815101624},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.19835805892944336},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15298253297805786},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.11184883117675781},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.10719087719917297}],"concepts":[{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.867957353591919},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.6680107116699219},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.6326299905776978},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5078263878822327},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4974115192890167},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47882014513015747},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4275192618370056},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.39434605836868286},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35812920331954956},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31243249773979187},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.272778183221817},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.20204129815101624},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.19835805892944336},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15298253297805786},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.11184883117675781},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.10719087719917297},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/robotics13030054","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13030054","pdf_url":"https://www.mdpi.com/2218-6581/13/3/54/pdf?version=1710928099","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:aisberg.unibg.it:10446/267250","is_oa":true,"landing_page_url":"https://hdl.handle.net/10446/267250","pdf_url":"https://aisberg.unibg.it/bitstream/10446/267250/1/robotics-13-00054-with-cover.pdf","source":{"id":"https://openalex.org/S4377196347","display_name":"Aisberg (University of Bergamo)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I11039511","host_organization_name":"University of Bergamo","host_organization_lineage":["https://openalex.org/I11039511"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:doaj.org/article:361472a790ca49978e489b312567a3ae","is_oa":true,"landing_page_url":"https://doaj.org/article/361472a790ca49978e489b312567a3ae","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 13, Iss 3, p 54 (2024)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/13/3/54/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics13030054","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics13030054","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13030054","pdf_url":"https://www.mdpi.com/2218-6581/13/3/54/pdf?version=1710928099","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.4699999988079071,"id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4393003838.pdf"},"referenced_works_count":30,"referenced_works":["https://openalex.org/W1993371511","https://openalex.org/W1997014929","https://openalex.org/W1999394722","https://openalex.org/W2008842322","https://openalex.org/W2072073129","https://openalex.org/W2132286096","https://openalex.org/W2166314456","https://openalex.org/W2344134437","https://openalex.org/W2768027977","https://openalex.org/W2970037388","https://openalex.org/W3026585085","https://openalex.org/W3115610531","https://openalex.org/W3147771082","https://openalex.org/W3160000162","https://openalex.org/W3162876900","https://openalex.org/W3165352287","https://openalex.org/W3186786896","https://openalex.org/W3196802659","https://openalex.org/W3205050127","https://openalex.org/W4200283685","https://openalex.org/W4200289022","https://openalex.org/W4280573228","https://openalex.org/W4281634879","https://openalex.org/W4281647883","https://openalex.org/W4281658881","https://openalex.org/W4293079528","https://openalex.org/W4380905393","https://openalex.org/W4387581341","https://openalex.org/W6704748891","https://openalex.org/W6827854873"],"related_works":["https://openalex.org/W1993031470","https://openalex.org/W400207537","https://openalex.org/W1487930919","https://openalex.org/W1974966543","https://openalex.org/W2550974801","https://openalex.org/W4205272379","https://openalex.org/W2218699221","https://openalex.org/W1519970984","https://openalex.org/W4285133152","https://openalex.org/W2184783674"],"abstract_inverted_index":{"High-speed":[0],"pick-and-place":[1,83],"industrial":[2,75,173],"applications":[3,84],"often":[4],"use":[5],"parallel":[6,79],"kinematic":[7],"robots":[8,29],"due":[9],"to":[10,42,115,130],"their":[11],"high":[12],"stiffness":[13],"and":[14,60,119,157],"dynamic":[15,71],"performance;":[16],"furthermore,":[17],"the":[18,24,28,33,48,70,93,105,109,112,116,120,144,147,158,161,165],"latter":[19],"not":[20],"only":[21],"depends":[22],"on":[23,32,52,85],"mechanical":[25],"characteristics":[26],"of":[27,69,73,107,111,155,160,167],"but":[30],"also":[31,127],"control":[34,91,100,113],"algorithm.":[35,101],"The":[36,88,102],"literature":[37],"shows":[38,146],"several":[39],"theoretical":[40],"contributions":[41],"such":[43],"controllers,":[44],"mainly":[45],"tested":[46],"at":[47],"simulation":[49],"level":[50],"or":[51,136],"simple":[53,61],"proof-of-concept":[54],"laboratory":[55],"equipment":[56],"that":[57],"execute":[58],"low-speed":[59],"trajectories.":[62],"This":[63],"paper":[64,145],"presents":[65],"an":[66,74,172],"experimental":[67],"investigation":[68],"performance":[72],"high-speed":[76,169],"4-DOF":[77],"5R":[78],"robot":[80],"designed":[81],"for":[82,164],"moving":[86],"objects.":[87],"inverse":[89,121],"dynamics":[90,122],"in":[92,128,139,171],"task":[94],"space":[95],"is":[96],"used":[97],"as":[98],"a":[99,140,151],"results":[103],"show":[104],"contribution":[106],"all":[108],"components":[110],"algorithm":[114],"motor":[117],"torque,":[118],"controller":[123,148],"performances":[124],"are":[125],"discussed":[126],"comparison":[129],"those":[131],"achievable":[132],"with":[133],"simpler":[134],"PD":[135],"PID":[137],"controllers":[138],"joint":[141],"space.":[142],"Moreover,":[143],"synthesis":[149],"from":[150],"modern":[152],"mechatronic":[153],"point":[154],"view,":[156],"effectiveness":[159],"proposed":[162],"solution":[163],"tracking":[166],"complex":[168],"trajectories":[170],"application.":[174]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":4}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}